A servo controller having a function for reducing an amount of dropping of a gravity axis provided with a machine. The servo controller is configured to control a servomotor for driving a gravity axis of the machine, and includes a brake signal outputting part configured to output a brake activation signal and a brake release signal to a mechanical brake for holding the gravity axis; a torque command generating part which generates a torque command value for controlling the position of the servomotor; and a torque limiting value generating part which generates a torque limiting value for limiting the torque command value. The torque limiting value generating part continuously reduces the torque limiting value from a first value larger than a torque corresponding to the gravity force to a second value smaller than the torque corresponding to the gravity force, after the brake activation signal is output.
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1. A servo controller for controlling a servomotor which drives a gravity axis of a machine tool or an industrial machine, the servo controller comprising:
a brake signal outputting part configured to output a brake activation signal and a brake release signal to a mechanical brake with a backlash for holding the gravity axis;
a torque command generating part which generates a torque command value for controlling a position of the servomotor; and
a torque limiting value generating part which generates a torque limiting value for limiting the torque command value generated by the torque command generating part,
wherein the torque limiting value generating part continuously reduces the torque limiting value from a first value larger than a torque corresponding to a gravity force to a second value smaller than the torque corresponding to the gravity force, after the brake signal outputting part outputs the brake activation signal.
2. The servo controller as set forth in
4. The servo controller as set forth in
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The present application claims priority to Japanese Application Number 2013-243939, filed Nov. 26, 2013, the disclosure of which is hereby incorporated by reference herein in its entirety.
1. Field of the Invention
The preset invention relates to a servo controller having a function for reducing an amount of dropping of a gravity axis when braking the gravity axis.
2. Description of the Related Art
In a configuration wherein a feed axis, etc., of a machine tool or an industrial machine is driven, in case that an axis driven by a servomotor is subject to external force, in particular gravity force (hereinafter, such an axis is referred to as a “gravity axis”), the gravity axis may fall by gravity when power to the servomotor is shut and the gravity axis is in the uncontrolled state.
As a technique regarding the dropping of a gravity axis, for example, JP 2003-131701 A discloses a controller for a servomotor. The controller is configured to output a command for lifting a gravity axis of a machine driven by a servomotor by a predetermined distance, and output a command for braking the gravity axis by means of a brake device, when the machine is in an emergency stop state or a power outage state.
Further, JP 2010-215369 A discloses a servo control system used in a turning operation machine such as a crane car, wherein a load axis is driven by an electric motor via a plurality of gears. In order to reduce an influence due to a backlash between the gears, the servo control system is configured to limit output torque of the motor during the passage of a predetermined period of time corresponding to time required for movement of one gear by a backlash width, when the motor is reversed or decelerated.
In JP 2003-131701 A, it is described that the object of the invention in this document is to prevent dropping or falling of the gravity axis when the gravity axis is braked. However, in JP 2003-131701 A, when a means for stopping the gravity axis during the braking should be switched from motor control to a mechanical brake, the gravity axis is previously lifted by a distance larger than the amount of dropping before the mechanical brake is activated. Therefore, in JP 2003-131701 A, the amount of dropping of the gravity axis is not decreased.
On the other hand, the object of the invention in JP 2010-215369 A is to prevent vibration, noise and decrease in a machine life due to the backlash, and is not to reduce the amount of dropping of the gravity axis. Further, in JP 2010-215369 A, it is described that the output torque of the motor is limited during the passage of the predetermined period of time corresponding to time required for movement of the second gear by the backlash width. However, this document does not concretely describe as to what value the torque is limited to.
Therefore, an object of the present invention is to provide a servo controller having a function for reducing an amount of dropping of a gravity axis provided with a machine such as a machine tool or an industrial machine.
According to the present invention, there is provided a servo controller for controlling a servomotor which drives a gravity axis of a machine tool or an industrial machine, the servo controller comprising: a brake signal outputting part configured to output a brake activation signal and a brake release signal to a mechanical brake with a backlash for holding the gravity axis; a torque command generating part which generates a torque command value for controlling a position of the servomotor; and a torque limiting value generating part which generates a torque limiting value for limiting the torque command value generated by the torque command generating part, wherein the torque limiting value generating part continuously reduces the torque limiting value from a first value larger than a torque corresponding to a gravity force to a second value smaller than the torque corresponding to the gravity force, after the brake signal outputting part outputs the brake activation signal.
In a preferred embodiment, the torque limiting value generating part reduces the torque limiting value after waiting until the brake signal outputting part outputs the brake activation signal and then the mechanical brake is activated.
In a preferred embodiment, the second value is equal to zero.
In a preferred embodiment, the first value corresponds to the torque command immediately before the torque limiting value begins to be decreased.
The above and other objects, features and advantages of the present invention will be made more apparent by the following description of the preferred embodiments thereof, with reference to the accompanying drawings, wherein:
On the other hand, shaft 4 and friction plate 6 are engaged to each other, by means of a concave-convex structure, for example, as shown in an enlarged portion enclosed by a dashed line 10. Therefore, when friction plate 6 is stopped, shaft 4 is also stopped. In this regard, structurally, between shaft 4 and friction plate 6 (or in the illustrated concave-convex structure), a certain length of backlash 12 exists. Further, in addition to backlash 12 between shaft 4 and friction plate 6, another backlash may exist between brake pad 8 and a fixture for brake pad 8 (not shown).
Next, in order to switch a means for stopping shaft 4 from the servomotor to mechanical brake 2, power to the servomotor is shutoff (or the servo control is turned off), and then, the torque of the servomotor discontinuously becomes zero. Accordingly, shaft 4 is downwardly accelerated within backlash 12 due to the gravity force, whereby shaft 4 drops or falls by a distance (for example, a distance L1 in
In this regard, as exemplified in
Thus, a servo controller 20 according to the present invention has a configuration as shown in
Next, with reference to
Next, in order to switch a means for stopping shaft 4 from servomotor 24 to mechanical brake 2, in the present invention, without shutting-off power to servomotor 24 (or turning off the servo control), torque limiting value generating part 30 continuously reduces (or monotonically decreases) the torque limiting value for limiting the torque command value of servomotor 24, from a first value larger than a torque corresponding to the gravity force applied to shaft 4 to a second value smaller than the torque corresponding to the gravity force.
In the example of
Therefore, in the present invention, the dropping or slippage of friction plate 6 as shown in
In the present invention, a period of time wherein the torque limiting value is decreased from the first value to the second value (i.e., a period of time from “beginning of decrease in torque limiting value” to “servo control off” in
Preferably, torque limiting value generating part 30 does not limit the torque limiting value immediately after brake signal outputting part 26 outputs the brake activation signal. Instead, as shown in a section (b) in
As shown in section (c2) in
Further, the first value may be any value as long as it is larger than the torque corresponding to the gravity force. For example, the first value may be the same as the torque command value immediately before the torque limiting value begins to be decreased (in the example of
According to the present invention, by decreasing the drop velocity of the gravity axis when braking the gravity axis, noise and vibration due to the collision between the gravity axis and the mechanical brake are reduced. Further, by reducing the amount of dropping of the gravity axis, the operation accuracy of the machine tool or industrial machine including the gravity axis can be improved.
While the invention has been described with reference to specific embodiments chosen for the purpose of illustration, it should be apparent that numerous modifications could be made thereto, by a person skilled in the art, without departing from the basic concept and scope of the invention.
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